Tape compactor

ABSTRACT

A main compactor and a tail compactor are independently movable with respect to a tape laying head when compacting composite tape. A piston-driven linkage switches the two compactors alternately to a tape laydown point defined with respect to the tape head.

FIELD OF THE INVENTION

This invention relates to machines for laying and compacting composite tape, especially where compacting tape tails, i.e., trailing sections of tape strips which are narrower than full tape width.

BACKGROUND OF THE INVENTION

In the field of advanced composites, where a composite tape of fiber reinforced resin is laid on a tool to create laminated structures such as aircraft parts, it is necessary to lay progressive runs of tape at angles other than 90° and 0° with the tool. When laying cross plies, for example at 45°, it is often necessary to cut the end of the tape strip at some angle other than 90° with the tape length, and a problem may arise when a primary compacting member spans adjacent pieces, which are carried on a backing.

PRIOR ART

U.S. Pat. No. 4,557,783, of R. J. Grone et al, issued Dec. 10, 1985, addresses the problem of tail compaction in a composite tape laying machine. The machine and compaction device are shown herein as Prior Art FIGS. 1, 2a, 2b, and 2c. The entire disclosure and teaching of the '783 patent is expressly incorporated herein by reference. Prior art FIG. 1 depicts a high rail gantry tape laying machine 10 wherein a tape laying head 11 is transported coordinately on horizontal side rails 12 and transverse gantry rails 13 under a program commanded by a numerical control (NC) unit 14. A contoured tape laydown surface 15, or tool, is positionable with respect to the tape laying head 11 to form laminated composite structures. The tape laying head 11 comprises, in part, a main frame 16 supporting a tape supply reel 17. The supply reel 17 carries a tape structure 18 comprising a filamentous composite tape and a paper backing. The tape structure 18 is trained under a tape compactor unit 19 and backing is accumulated on a take-up reel 20, in a manner well-known in the art. The tape laying head 11 is movable along a vertical, or Z-axis 21 to adapt to changing tool heights along the tape path, and the entire tape head 11 is rotatable around the vertical axis 21. FIG. 2a depicts a schematic of the tape laying head 11 movable in a direction "X" with respect to a tool 22. The tape laying head 11 has a supply reel 17 which feeds out a tape structure 18 comprising a composite tape 23 releasably attached to a backing 24 such as a paper strip. The tape structure 18 feeds through a cutter unit 25 and tape guide chute 26 to its lowermost position, adjacent the tool 22, where it then passes under a presser shoe or primary compactor 27 of the tape compactor unit 19. As the tape 23 is pressed against the laydown surface 28 of the tool 22, the backing 24 is separated and pulled onto the take-up reel 20 on the head 11. Since the compactor 27 will ultimately see a tape tail 29, as depicted in FIG. 2b, and since the compactor 27 presses against the backing 24 in order to force the tape 23 against the laydown surface 28, it is obvious that the following section 30, complementary to the tail 29, would also be stuck down if there were only one compactor 27. To obviate this difficulty in handling the tail 29, the prior art tape head 11 includes a tail compactor 31, which is a roller 32, carried on a pivotable bell crank 33. The bell crank 33 is swung from a pivot joint 34 on the head 11 by a cylinder 35, reacting against the head 11, to drive the tail compactor 31 against the tape 23 in the manner shown in FIG. 2c. The tail compactor 31 is located at a spot between the backing 24 and the previously laid tape 23a, so that it contacts only tape 23 when swung into the "down" position. Through linkage 36 attached from the bell crank 33 to the primary compactor 27 and to a backing guide 37, the downward stroke of the tail compactor 31 with respect to the tape laying head 11 forces the primary compactor 27 and entire tape head 11 up, away from the laydown surface 28, and the linkage 36 also moves the backing guide 37 into a position to help steer the backing 24 on its way to the take-up reel 20.

Certain features are noteworthy: Since the primary compactor is affixed to the tape head, the primary compaction force is provided by the head itself. And, since the tail compactor is thrust into position by reaction against the tape laying head, the tail compaction force is likewise provided by the head itself. Additionally, the primary and tail compactors, as depicted, are spaced from one another along a horizontal plane, and this may prohibit application of the head to certain contoured parts which deviate substantially from a flat surface, along the tape length.

U.S. Pat. No. 4,954,204, of M. N. Grimshaw, issued Sept. 4, 1990, teaches a presser member for contoured surfaces, and the entire disclosure and teaching of the '204 patent is expressly incorporated herein by reference. The '204 device is depicted herein as Prior Art FIGS. 3, 4, 5a, 5b, and 5c. With reference to Prior Art FIG. 3, the '204 patent teaches a presser member 38 which is affixed to the bottom of a tape laying head 11, as a primary compactor, but wherein the primary compaction force is obtained from an actuator 39 within the device itself; thus the presser member elements move with respect to the tape head 11. The presser member elements comprise a shoe plate stack 40, i.e., plurality of adjacent shoe plates 41 of common cross-section (see FIG. 4), which may adapt to contours occurring across the tape strip 23. The presser member 38 is a four-bar linkage of the double-slider type, where a horizontal slider 42 is connected by a control link 43 to a vertical slider (the shoe plate stack 40). The presser member 38 has a housing 44, quarter-rounded at its lower rear surface and hollowed out to accommodate detail pieces. The top of the housing supports a centrally located air cylinder 45, having a piston rod 46 extending frontwardly, i.e., to the right of the figure. Immediately adjacent the front of the cylinder 45 is a pair of parallel guide rods 47a,b, one at each side of the assembly. The horizontal slider 42 rides on the guide rods 47a,b, and the end of the piston rod 46 is affixed to the slider 42.

FIG. 4 shows the shoe plates 41 in relation to the control link 43 and a control rod 48 which extends through the shoe plates 41. At the interior of the housing 44 is the actuator 39 for biasing the plates 41 downwardly, away from the housing 44. The actuator 39 is a closed bladder spring, where a chamber 49 is faced with a flexible membrane 50 which contacts the top edges of the shoe plates 41. Pressurized fluid is ducted into the chamber through a port 51 to load the compliant membrane 50 against the shoe plates 41.

FIG. 5a is a diagrammatic view of the elements of FIG. 3, showing the quarter-round housing 44 supporting the vertically movable shoe plate stack 40, with a latch finger 52 "up" and the slider 42 moved to the right against the latch finger 52. The control link 43 is shown connected to the control rod 48 which evens out, or "nulls" all plates at a known dimension, Z'. The downward biasing force provided by the membrane 50 is depicted as a bladder spring 53 reacting against the top edge of the shoe plates 41. The position of the elements in FIG. 5a is used for programming all vertical, or Z-axis dimensions, providing a known point from which the shoe plates 41 may float up and down. FIG. 5b depicts elements of FIG. 5a in an alternate position, where the latch finger 52 is "down" and the slider 42 is moved leftwardly to the fully-retracted position. This position of the presser member 38 is used for compacting a tape strip 23 against the tool laydown surface 28. The control link 43 has moved the horizontal control rod 48 to an intermediate position within the shoe plate slot 54; the shoe plates 41 are free to float on tool contours as the bladder spring 53 biases the entire shoe plate stack 40 against the tape 23. FIG. 5c depicts the latch finger 52 retracted, and the slider 42 now fired to the fully-advanced position, all the way to the right. The control link 43 now pulls the control rod 48 to a new raised position, thus fully-retracting the vertically-movable shoe plates 41 upwardly into the housing 44, compressing the biasing bladder spring 53. This position permits the use of auxiliary equipment, such as a tail compacting roller 55.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a compactor assembly for composite tape wherein a main compactor is independently powered with respect to a tape laying head and combined with a tail compactor which is likewise independently powered with respect to the head.

Another object of the present invention is to provide a composite tape strip compactor assembly in which a main compactor is adaptable to contour changes occurring across the tape strip and a tail compactor is capable of tail compaction on surfaces deviating substantially from a flat plane along the tape length.

Another object of the present invention is to provide a compactor assembly for composite tape, in which a main compactor is utilized for laying essentially a full-width tape strip at a tape laydown point defined with respect to a tape laying head, and in which the main compactor is displaced by a tail compactor which may finish laying the tail of the tape strip at the tape laydown point.

Still another object of the present invention is to provide a compactor assembly for composite tape, wherein main compaction and tail compaction occur at substantially the same point with respect to the tape laying head which carries the compactor assembly.

A still further object of the present invention is to provide a compactor assembly for composite tape, wherein primary tape strip compaction and tail compaction are independent of tape laying head movement and are provided by the same actuator, carried by the tape laying head.

Another object of the present invention is to provide a compactor assembly for composite tape, in which linkage is utilized for simultaneously switching positions of the main compactor and tail compactor with respect to a tape laydown point.

The foregoing objects are achieved by the invention which is embodied in an improved tape laying machine, having a tape head movable along a horizontal path for depositing composite tape on a tape laydown surface, where the head includes a tape structure transported to a tape laydown point, and where head also includes a main compactor means movable with respect to the head and a tail compactor means, wherein the improvement comprises: a horizontal reference plane defined on the tape laydown surface; a housing, mounted to the tape laying head, and movable therewith relative to the reference plane; a substantially vertical centerline defined on the housing; a first slider, vertically movable on the housing; a second slider, horizontally movable on the housing; means for moving the second slider in forward and reverse directions; main compactor means movably mounted on the housing along the vertical centerline, for compacting the tape with respect to the tape laydown point defined on the horizontal reference plane; means for biasing the main compactor means away from the housing; a first elongate link, having opposite ends, and pivotally connected at one end to the first slider about a first horizontal pivot axis; a secondary compactor, connected at the other end of the first elongate link, and positioned at a location trailing the laydown point; a second elongate link, having opposite ends, and pivotally connected at one end to the second slider about a second horizontal pivot axis; means for pivotally connecting the other end of the second elongate link to the first elongate link about a third horizontal pivot axis; means for governing movement of the first elongate link through a portion of its pivotal movement; and, lifting means on the first slider for lifting the main compactor means against the biasing means.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a prior art tape laying machine.

FIG. 2a is a side elevational view of a prior art compactor assembly performing a main compaction operation.

FIG. 2b is a plan view of a prior art tape strip having an angled tail.

FIG. 2c is a side elevational view of the prior art compactor assembly of FIG. 2a, performing a tail compaction operation.

FIG. 3 is a side elevational view of a prior art compactor.

FIG. 4 is a front elevational view, in partial section, taken along the line IV--IV of FIG. 3.

FIGS. 5a, 5b, and 5c are diagrammatic views of the prior art compactor of FIG. 3.

FIG. 6 is a side elevation of a tape compactor assembly.

FIG. 7 is a front elevational section, taken along the line VII--VII of FIG. 6.

FIG. 8 is a rear view, taken in the direction of arrow VII of FIG. 6.

FIG. 9 is an elevational section, taken along the line IX--IX of FIG. 6.

FIG. 10 is a sectional view, taken along the line 10--10 of FIG. 6.

FIG. 11a, 11b, and 11c are diagrammatic views of the tape compactor assembly of FIG. 6.

FIG. 12 is an elevational section, taken along the line XII--XII of FIG. 11b.

FIG. 13 is an elevational section, taken along the line XIII--XIII of FIG. 11c.

FIG. 14 is a side elevational view of a tape compactor assembly.

DESCRIPTION OF THE PREFERRED EMBODIMENT

It should be noted that certain attitudinal references are employed herein, e.g., "horizontal", "vertical", and the like. Such references are only for the convenience of the reader, and the machine structure is not so limited; those skilled in the art will appreciate that the spatial ordinates of the machine may be changed to suit a variety of tasks within the scope of the invention.

With reference to FIG. 6, a tape head 60 is shown with an improved tape compactor assembly 61 affixed to its bottom surface. The tape head 60 is of a type which may be used with the tape laying machine 10 of FIG. 1. The tape compactor assembly 61 will move in a forward direction "X" with the tape head 60, to the right of the FIG., when laying tape 23, and the head 60 thus has a front end 60a, at the right of the FIG., and a rear end 60b to the left of the FIG. The assembly 61 includes a housing 62 which is quarter-rounded at its lower rear surface and hollowed out to accommodate detail pieces (not shown). The top surface of the housing 62 has a frame 63 affixed thereto, which extends frontwardly. The frame 63 serves as a mounting for an air cylinder 64, which has a piston rod 65 extending frontwardly. The frame 63 also supports a pair of parallel guide rods 66a,b, one at each side of the assembly 61, and a horizontal slider 67 rides on the guide rods 66a,b and extends across the housing 62 from side-to-side (see also FIGS. 7 and 8). The slider 67 is affixed to the piston rod 65.

The horizontal slider 67 has three specific positions:

(1) fully-retracted, as in FIGS. 6 and 11a;

(2) forwardly-advanced against a latch finger 68, as in FIG. 11b; and

(3) fully-advanced to the right with the latch finger 68 retracted, as in FIG. 11c.

The latch finger 68 is powered in vertical directions by a compact fluid cylinder unit 69 secured to the bottom of the frame 63. Each side of the housing 62a,b has a vertical slider 70, constrained to move within a vertical track 71 along a vertical centerline 72 defined on the housing 62. Within the housing 62, immediately behind the vertical slider 70, is a main compactor 73. As shown in FIG. 9, the main compactor 73 comprises a shoe plate stack 74 for contacting the backing 24 of a tape structure 18. The shoe plate stack 74 is a plurality of parallel, wafer-like shoe plates 75 guided for vertical movement with respect to one another within the housing 62. A vertical elongate slot 76 of common size is provided in line through all of the plates 75, and a control rod 77 extends horizontally, from side to side through all of the slots 76 and is affixed to the vertical sliders 70. In the position shown in FIGS. 6, 9, and 11a, the control rod 77 is positioned approximately mid-way along the vertical slot 76 so it will not interfere with compactor movement which may require the shoe plates 75 to adapt to a variety of contours across the tape width. This is the normal tape laying position. When it is desired to land the compactor 73 and tape 23 on a work surface 78, at the beginning of a tape laying run, the horizontal slider 67 is stopped against the latch finger 68 as depicted in FIG. 11b. In this position, the upper edges 76a of the slots 76 will rest on the raised control rod 77, causing the bottom edges 75a of the shoe plates 75 to be in line as shown in FIG. 13. This position is an alignment, or "null" position, setting the bottom edges 75a of the plates 75 at a known relationship to the machine coordinates, for programming purposes.

In order to provide a downward biasing force to all of the plates 75, a bladder spring 79 has been devised, in the manner of U.S. Pat. No. 4,954,204, wherein the housing 62 has a closed chamber 80 formed immediately above the shoe plate stack 74. The chamber 80 includes a flexible membrane 81 extending across the shoe plates 75, in contact with and spanning the top edges 75b. The chamber 80 is provided with an orifice 82 so that air or other fluid medium may be introduced into the chamber 80 and, thus, pressurize the membrane 81 to provide a downward biasing force to the entire stack of plates 75. The membrane 81 is yieldable, to accommodate surface contour variances which will cause the plates 75 to shift vertically, relative to one another, as the tape 23 is laid.

In the preferred embodiment, the air valve unit 82a employed to pressurize the bladder spring 79 produces a pressure output which varies in proportion to the magnitude of an electrical signal. Such a valve unit is the Pneutronics VIP-FLEX Pressure Control unit, available from LDI Pneutronics Corp., Hollis, N.H. 03049. Therefore, this valve unit 82a may be controlled in accordance with an NC program to vary air pressure and consequent force directed against the tape 23. As an example, compaction of full-width tape may be performed at a constant pressure. Next, unit loading on a tapered tail may be kept constant by changing the total downward force acting on the tail compaction roller; i.e., by varying air pressure in accordance with the tail profile.

It will be appreciated that in some instances, it may be desirable to supply only a fixed pressure to the bladder spring 79. It may also be desirable to supply two alternative pressures to the bladder spring 79; a first pressure for main compaction, and a second pressure for tail compaction.

With reference back to FIG. 6, a flexible sheet or skid 84 is attached to the front of the housing 62, and directed around the nose, or bottom edge 75a of the shoe plates 75 to present a smooth surface against the backing 24. It may be appreciated, however, that some embodiments may omit the skid 84. The skid 84 is guided around the quarter-round section, within a surface channel or relief 85, and is held taut by a strap 86. The strap 86 is affixed to the skid 84 and tensioned by a coiling device 87 carried on the tape laying head 60. The tape structure 18 is shown coming from the tape guide chute 26 to the tape lay-down point 88 established by the intersection of the vertical centerline 72 and a horizontal plane 89 defined on the work surface 78. At the tape laydown point 88, while the head 60 continues moving to the right, tape 23 is deposited on the work surface 78, and the backing 24 is separated from the tape 23 and pulled upwardly against the skid 84, while running to a take-up reel (not shown).

The roller 90 depicted in FIG. 6 is a tail compactor, and is located between the tape 23 and the backing 24, trailing the tape laydown point 88, in the manner taught in U.S. Pat. No. 4,557,783, Prior Art FIG. 2a. The roller 90 is shown in its home position, swung all the way to the left.

A tail compactor is a secondary compactor used for compacting tape of less than full width. The roller 90 is carried at one end of a first elongate link 91, which is pivotally connected at its other end to the vertical slider 70 about a first horizontal pivot axis 92. The horizontal slider 67 has a depending section 67a at each side of the housing 62 (see FIG. 7) which extends approximately midway down the housing 62, and a second elongate link 93 is pivotally connected at one end to the horizontal slider 67 about a second horizontal pivot axis 94 while its other link end is pivotally connected to the first link 91 about a third horizontal pivot axis 95 lying approximately midway between the ends of the first link 91. The first link 91 also includes a cam follower 96 which extends horizontally from the link 91 into a cam slot 97 provided on the housing 62 (see also FIG. 10). The cam slot 97 governs the first link 91 and, consequently, movement of the tail compaction roller 90 as the horizontal slider 67 is driven by the cylinder 64. The cam slot 97 is arcuate and upwardly arched, from its initial portion, thereafter sloping downwardly towards the vertical slider 70. And, while the cam follower 96 is accurately guided within the cam slot 97 for most of the path, the end of the slot 97 is relieved, as will be described later in connection with FIG. 11c. While the first and second links 91,93 under discussion are shown on one side 62a of the housing 62, i.e., facing the viewer, it will be appreciated that there are identical links 91,93 on the opposite side 62b of the assembly 61, and the tail compaction roller 90 spans the first links 91, as shown in FIG. 8.

COMPACTOR OPERATION

Operation of the compactor assembly 61 may be appreciated by referring to diagrammatic FIGS. 11a-11c.

FIG. 11a depicts the elements of FIG. 6, where the latch finger 68 is "down" and the slider 67 is moved leftwardly to the fully-retracted position. In this position, the main compactor 73 or shoe plate stack 74 is biased against a tape backing 24 which is being stripped from tape 23 laid to the laydown surface 78, and the position of the vertical slider 70 and its control rod 77 is such that the rod 77 will not hinder vertical float of the plates 75 (see also FIG. 9). The bladder spring 79 biases the entire shoe plate stack 74 against the backing 24 and tape 23, and the shoe plates 75 can float in compliance with contour variances occurring across the tape width.

FIG. 11b depicts the housing 62 with the latch finger 68 "up" and the horizontal slider 67 moved to the right, against the latch finger 68. In this position, the vertical slider 70 is driven upward slightly so that its control rod 77 evens out, or "nulls" all plates 75 at a known dimension, Z' (see also FIG. 12). The position of the elements in FIG. 11b is utilized for programming all vertical, or Z-axis dimensions.

FIG. 11c depicts the latch finger 68 "down", and the horizontal slider 67 now fired to the fully-advanced position, all the way to the right. The vertical slider 70 is now driven to a new raised position where its control rod 77 drives the vertically-movable shoe plate stack 74 to a fully-retracted upward position into the housing 62, compressing the bladder spring 79 (see also FIG. 13). The skid 84 will follow along with the stack 74. Simultaneous with this movement of the vertical slider 70, in response to horizontal slider stroke, the first elongate link 91 is swung to a nearly vertical position, governed through most of its movement by the cam follower 96 traveling in the cam slot 97, so that the tail compaction roller 90 will be switched into the region of the tape laydown point 88, previously occupied by the now-retracted main compactor 73 (shoe plate stack 74). The linkage, coupled with guidance provided by the cam follower 96, insures that the tail compaction roller 90 will move along a path which will not interfere with the substantial slope (approximately 15°) of the work surface 78 with respect to the horizontal plane 89. With reference to FIG. 13, the tail compaction force is accomplished by the same bladder spring 79 which provides the main compactor force. The compressed bladder spring 79 attempts to drive the control rod downward along with the vertical slide 70, and the vertical slide 70 in turn, drives the first elongate link 91 and roller 90 downward against the tape tail 23a. The sides 97a,b of the cam slot 97 are slightly flared for clearance (see also FIG. 14) when the cam follower 96 is positioned as in FIG. 11c, so the first link 91 and roller 90 may move vertically against the tail 23a.

Thereafter, as the tape head 60 is lifted from the work surface 78 in anticipation of another tape laying run, the horizontal slider 67 is retracted to the left, causing the tail compaction roller 90 to swing back out to its home position, and permitting the main compactor 73 (shoe plate stack 74) to descend.

FIGS. 6-9 depict an ideal situation for the invention, where it is assumed that the vertical slide 70 will move upward easily when the horizontal slide 67 is actuated. It is further assumed that the cam follower 96 moves without shake in the cam slot 97. In actual practice, though, frictional forces are present, and the cam slot 97 at each side 62a,b, of the housing 62 is manufactured with clearance; therefore, to ensure quick action and smoothness, a practical embodiment of the invention is further developed in FIG. 14, where the following features may be seen:

1. The cam slot 97 is formed into a cam plate 98 bolted to the sides 62a,b, of the housing 62; this simplifies machining and heat treatment, as well as alignment of the right and left side elements.

2. A spring-loaded plate 99, slidable on shoulder screws 100, spans the housing 62 and is biased downwardly by springs 101 guided on the shoulder screws 100. The plate 99 contacts a roller 102 which is clevis-mounted within the first link 91, just above the cam follower 96. The spring-loaded plate 99 keeps shake out of the assembly 61 while the tail compaction roller 90 is in its home position, and provides impetus for the first portion of its advancement to the tape laydown point 88.

3. The top portion of the vertical slider 70 is provided with a horizontal stud 103 which carries an antifriction roller 104. A bracket 105 on the sides 62a,b of the housing 62 supports a helper cylinder 106. The cylinder 106 has a short-stroke piston rod 107 linked to a lever 108 pivotally-mounted to the bracket 105. The lever 108 extends under the roller 104 and serves to provide an initial lifting force for the vertical slide 70, to overcome friction as the horizontal slide 67 is actuated. Once moving, the mechanical advantage of the horizontal slide 67 over the vertical slide 70 increases, and the assist provided by the lever 108 is no longer needed. The piston rod 107, lever 108 and roller 104 are all outside of the first link 91, to avoid interference.

4. The second link 93 is comprised of two link ends 93a,b, connected by a stud 109, threadably received therein, and a locknut 110 secures the assembly once the proper dimension between the second and third pivot axes 94,95 has been established.

Those skilled in the art will appreciate that the vertical slide 70 may be provided with antifriction elements in certain applications. Similarly, provision of antifriction elements within the various slides, pivot joints and rollers herein, are deemed to be well within the ken of the machine designer.

It may be noted that, while the actuator for the main compactor 73 comprises a bladder spring 79, having a closed chamber with a membrane covering, it is also anticipated that the membrane 81 may be omitted, and fluid pressure may be applied directly against the top of the shoe plate stack 74 to bias the stack 74 in a downward direction.

It is further contemplated that a resiliently faced element may be substituted for the main compactor 73, and other devices may be substituted for the tail compaction roller 90.

Thus, while the invention has been shown in connection with a preferred embodiment, it is not intended that the invention be so limited. Rather the invention extends to all such designs and modifications as come within the scope of the appended claims. 

What is claimed is:
 1. An improved tape laying machine having a tape head movable along a horizontal path for depositing composite tape on a tape laydown surface, wherein the head includes a tape structure transported to a tape laydown point, where a main compactor is movable with respect to the head and the head also has a tail compactor, the improvement comprising:a horizontal reference plane defined on the tape laydown surface; a housing, mounted to said tape laying head, and movable therewith relative to said reference plane in a tape laying direction; a substantially vertical centerline defined on said housing; a first slider vertically movable on said housing; a second slider, horizontally movable on said housing; means for moving said second slider in forward and reverse directions; main compactor means movably mounted on said housing along said vertical centerline, for compacting composite tape with respect to a tape laydown point defined on said horizontal reference plane; means for biasing said main compactor means away from said housing; a first elongate link, having opposite ends, and pivotally connected at one end to said first slider about a first horizontal pivot axis; a tail compactor, connected at the other end of said first elongate link, and positioned at a location trailing the laydown point as tape is laid; a second elongate link, having opposite ends, and pivotally connected at one end to said second slider about a second horizontal pivot axis; means for pivotally connecting the other end of said second elongate link to said first elongate link about a third horizontal pivot axis; means for governing movement of said first elongate link through a portion of its pivotal movement; and lifting means for lifting said main compactor means against said biasing means in response to first slider movement; wherein said first, second, and third pivot axes are parallel to one another, and whereby, as the second slider is initially moved in the forward direction by the second slider moving means, the first slider will move upwardly causing the lifting means to contact the main compactor means, and the tail compactor will move forward along a tail compactor path, having a horizontal component of movement, towards the vertical centerline, and whereby, as the second slider continues movement in the first direction, the first slider will continue to move upwardly, thereby causing the lifting means to lift said main compactor means, while the tail compactor will move forward into contact with the tape at the tape laydown point.
 2. The apparatus of claim 1, further comprising:lift means for assisting vertical movement of said first slider.
 3. The apparatus of claim 1, wherein said governing means comprises:cam means on said housing for controlling movement of said tail compactor; and cam follower means on said second elongate link for contacting said cam means.
 4. The apparatus of claim 3, further comprising:cam biasing means for urging said cam follower means into contact with said cam means.
 5. The apparatus of claim 3, whereinsaid cam means comprises a generally arcuate cam surface.
 6. The apparatus of claim 5, wherein said arcuate cam surface is upwardly arched.
 7. The apparatus of claim 1, wherein said tail compactor will clear a line, extending from said tape laydown point rearwardly and upwardly at about a 15° angle with said plane, as the tail compactor moves forward horizontally to contact the tape laydown point.
 8. An improved tape laying machine having a tape head movable along a horizontal path for depositing composite tape on a tape laydown surface, wherein the head includes an assembly of tape on a backing, transported to a tape laydown point, at which point the tape is pressed to the surface and the backing is separated from the tape, and wherein the head also includes means for causing the backing to follow movement of a main compactor, the improvement comprising:a horizontal reference plane defined on the tape laydown surface; a housing, mounted to said tape laying head, and movable therewith along said reference plane; a substantially vertical centerline on said housing; a first slider movably mounted to a vertical track on said housing; a second slider, movably mounted to a horizontal track on said housing; means for moving said second slider in forward and reverse directions; main compactor means movably mounted on said housing along said vertical centerline, for pressing against said backing at a tape laydown point defined on said horizontal reference plane; means for biasing said main compactor means against said backing at said tape laydown point; a first elongate link, having opposite ends, and pivotally connected at one end to said first slider about a first horizontal pivot axis; tail compactor means, carried at the other end of said first elongate link, and positioned between said backing and said tape for pressing against a tape tail; a second elongate link, having opposite ends, and pivotally connected at one end to said second slider about a second horizontal pivot axis; means for pivotally connecting the other end of said second elongate link to said first elongate link about a third horizontal pivot axis; governing means for controlling movement of said tail compactor means; lifting means on said first slider for lifting said main compactor means against said biasing means; wherein the first, second, and third pivot axes are parallel to one another, and whereby, as the second slider is initially moved in the forward direction by the second slider moving means, the first slider will move upwardly causing the lifting means to contact the main compactor means, and the tail compactor means will move forward along a path having a horizontal component of movement towards the vertical centerline, and whereby, as the second slider continues movement in the first direction, the first slider will continue to move upwardly, thereby causing the lifting means to lift said main compactor means, while the backing follows the main compactor means, and the tail compactor means will move forward into contact with the tape at the tape laydown point.
 9. The apparatus of claim 8, further comprising:lift means for assisting vertical movement of said first slider.
 10. The apparatus of claim 8 wherein said governing means comprises:cam means on said housing for controlling movement of said tail compactor means; and cam follower means on said second elongate link for contacting said cam means.
 11. The apparatus of claim 10, further comprising:cam biasing means for urging said cam follower means into contact with said cam means.
 12. The apparatus of claim 11, wherein said cam means comprises a generally arcuate cam surface.
 13. The apparatus of claim 12, wherein said arcuate cam surface is upwardly arched.
 14. The apparatus of claim 8, wherein said tail compactor means will clear a line, extending from said tape laydown point rearwardly and upwardly at about a 15° angle with said plane, as the tail compactor means moves forward horizontally to contact the tape laydown point.
 15. An improved tape laying machine having a tape head movable along a horizontal path for depositing composite tape on a tape laydown surface, wherein the head includes an assembly of tape on a backing, transported to a tape laydown point, at which point the tape is pressed to the surface and the backing is separated from the tape, and wherein the head also includes shoe means movable with respect to the head and means for causing the backing to follow shoe means movement, the improvement comprising:a horizontal reference plane defined on the tape laydown surface; a housing, mounted to said tape laying head, and movable therewith along said reference plane; a substantially vertical centerline on said housing; a first slider, movably mounted to a vertical track on said housing; a second slider, movably mounted to a horizontal track on said housing; means for moving said second slider in forward and reverse directions; shoe means movably mounted on said housing along said vertical centerline, for pressing against said backing at a tape laydown point defined on said horizontal reference plane; means for biasing said shoe means against said backing; a first elongate link, having opposite ends, and pivotally connected at one end to said first slider about a first horizontal pivot axis; a tail compaction roller, rotatably journalled at the other end of said first elongate link, about a horizontal roller axis and positioned between said backing and said tape; a second elongate link, having opposite ends, and pivotally connected at one end to said second slider about a second horizontal pivot axis; means for pivotally connecting the other end of said second elongate link to said first elongate link about a third horizontal pivot axis; cam means on said housing for controlling movement of said tail compaction roller; cam follower means on said second elongate link for contacting said cam means; and lifting means on said first slider for lifting said shoe means against said biasing means; wherein the first, second, and third pivot axes and the roller axis are parallel to one another, and wherein, as the second slider is initially moved in the forward direction by the second slider moving means, the first slider will move upwardly causing the lifting means to contact the shoe means, and the tail compaction roller will move forward along a roller path having a horizontal component of movement towards the vertical centerline, and wherein, as the second slider continues movement in the first direction, the first slider will continue to move upwardly, thereby causing the lifting means to lift said shoe means, while the backing follows the shoe means, and the tail compaction roller will move forward into contact with the tape at the tape laydown point.
 16. The apparatus of claim 15, further comprising:lift means for assisting vertical movement of said first slider.
 17. The apparatus of claim 15, further comprising:cam biasing means for urging said cam follower means into contact with said cam means.
 18. The apparatus of claim 15, whereinsaid cam means comprises a generally arcuate cam surface.
 19. The apparatus of claim 18, wherein said arcuate cam surface is upwardly arched.
 20. The apparatus of claim 15, wherein said tail compaction roller will clear a line, extending from said tape laydown point rearwardly and upwardly at about a 15° angle with said plane, as the roller moves forward horizontally to contact the tape laydown point. 